Control-focused, nonlinear and time-varying modelling of dielectric elastomer actuators with frequency response analysis

Current models of dielectric elastomer actuators (DEAs) are mostly constrained to first principal descriptions that are not well suited to the application of control design due to their computational complexity. In this work we describe an integrated framework for the identification of control focused, data driven and time-varying DEA models that allow advanced analysis of nonlinear system dynamics in the frequency-domain. Experimentally generated input–output data (voltage-displacement) was used to identify control-focused, nonlinear and time-varying dynamic models of a set of film-type DEAs. The model description used was the nonlinear autoregressive with exogenous input structure. Frequency response analysis of the DEA dynamics was performed using generalized frequency response functions, providing insight and a comparison into the time-varying dynamics across a set of DEA actuators. The results demonstrated that models identified within the presented framework provide a compact and accurate description of the system dynamics. The frequency response analysis revealed variation in the time-varying dynamic behaviour of DEAs fabricated to the same specifications. These results suggest that the modelling and analysis framework presented here is a potentially useful tool for future work in guiding DEA actuator design and fabrication for application domains such as soft robotics

Solid solution studies of the molecular nonlinear optical properties of organic chromophores

The work presented in this thesis describes an investigation into the properties and behaviour of nonlinear optical guest molecules doped into polymeric matrices. The interactions of the guest molecule 2-(N, N dimethylamino)-5-nitroacetanilide (DAN) with a polycarbonate and polymethyl methacrylate (PMMA) host are compared. A detailed characterisation of the two systems is described employing infra red spectroscopy and analysis of the chromophore alignment during electric field poling. The study reveals that hydrogen bond formation between the guest and the polar polycarbonate backbone accounts for the unusually good alignment stability previously reported in the polycarbonate system. The molecular hyperpolarisibility of DAN in PMMA is also measured and the apparent enhancement compared with solution measurements is accounted for by the more polar nature of the polymer environment. A new technique allowing the measurement of the dipole moment of polar molecules doped into thin polymer films is also presented. The technique is demonstrated on a series of zwitterionic chromophores whose measured dipole moments range from 30 to 40 D. Electrochroism measurements are performed to account for aggregation of the monomer species which then permits the first hyperpolarisibility of the molecules to be calculated. The values of dipole moment and hyperpolarisibility are found to be very sensitive to the choice of dielectric cavity shape used when deriving the local field correction factors. The measured values are therefore compared with theoretical calculations and a preferred cavity shape is proposed

Finite element modeling of dielectric elastomer actuators for space applications

A special actuator device with passive sensing capability based on dielectric elastomer was studied and specialized to be used in space applications. The work illustrates the research project modeling procedure adopted to simulate the mechanical behavior of this material based on a finite element theory approach. The Mooney-Rivlin’s hyperelastic and Maxwell’s electrostatic models provide the theoretical basis to describe its electro-mechanic behavior. The validation of the procedure is performed through a numerical-experimental correlation between the response of a prototype of actuator developed by the Risø Danish research center and the 3D finite element model simulations. An investigation concerning a possible application in the space environment of dielectric elastomer actuators (DEA) is also presented

Integrated static and dynamic modeling of an ionic polymer–metal composite actuator

Ionic polymer–metal composites have been widely used as actuators for robotic systems. In this article, we investigate and verify the characteristics of ionic polymer–metal composite actuators experimentally and theoretically. Two analytical models are utilized to analyze the performance of ionic polymer–metal composites: a linear irreversible electrodynamical model and a dynamic model. We find that the first model accurately predicts the static characteristics of the ionic polymer–metal composite according to the Onsager equations, while the second model is able to reveal the back relaxation characteristics of the ionic polymer–metal composite. We combine the static and dynamic models of the ionic polymer–metal composite and derive the transfer function for the ionic polymer–metal composite’s mechanical response to an electrical signal. A driving signal with a smooth slope and a low frequency is beneficial for the power efficiency

Nonlinear optical characterisation of organic chromophores and aspects of molecular aggregation

The work presented in this thesis describes an investigation into the properties and behaviour of a new class of nonlinear optical organic chromophores. This study contributes to the optimisation of nonlinear optical molecules through an improved understanding of the relationships between the molecular nonlinear optical properties and the measured macroscopic quantities. A series of highly dipolar non-linear optical chromophores with absorption typically in the range of 350-500 nm have been synthesised by the reactions of amines with tetracyanoquinodimethane (TCNQ). One of the advantages of these materials is the large molecular figure of merit (μβ where μ is the molecular dipole moment and P is the second order polarisability), which theoretically allows large nonlinear optical coefficients to be obtained. The molecular dipole moments of these chromophores were determined both experimentally and theoretically, and were found to agree. The nonlinear optical properties of these compounds in solution were studied using an electric field induced second harmonic generation (EFISH) technique. The measurements of μβ at 1064 nm and 1907 nm in chloroform and acetone are presented. Moderate μβ values were obtained but β is found to be unexpectedly small in chloroform and shows unusual dispersion characteristics in this solvent compared to acetone. Further concentration investigations revealed features that suggest the presence of aggregates within solution. Optical spectroscopy measurements provide evidence of new species whose presence and conformation were found to be solvent-dependent. The results of this work highlight the need for an entire concentration range to be studied if accurate determination of molecular properties of highly dipolar molecules is required. Guest-host polymer films of these materials have been corona poled using a constant current corona triode. Detailed characterisation studies of the second order nonlinearities using second harmonic generation (SHG) were compared to a less dipolar molecule. These investigations showed that the highly dipolar TCNQ derivatives show severe aggregation within the polymer films. The magnitude of the SHG that can be obtained from such systems is therefore limited by this aggregation

Modeling and Design Optimization of a Rotational Soft Robotic System Driven by Double Cone Dielectric Elastomer Actuators

Dielectric elastomers (DEs) consist of highly compliant electrostatic transducers which can be operated as actuators, by converting an applied high voltage into motion, and as sensors, since capacitive changes can be related to displacement information. Due to large achievable deformation (on the order of 100%) and high flexibility, DEs appear as highly suitable for the design of soft robotic systems. An important requirement for robotic systems is the possibility of generating a multi degree-of-freedom (MDOF) actuation. By means of DE technology, a controllable motion along several directions can be made possible by combining different membrane actuators in protagonist-antagonist configurations, as well as by designing electrode patterns which allow independent activation of different sections of a single membrane. However, despite several concepts of DE soft robots have been presented in the recent literature, up to date there is still a lack of systematic studies targeted at optimizing the design of the system. To properly understand how different parameters influence the complex motion of DE soft robots, this paper presents an experimental study on how geometry scaling affects the performance of a specific MDOF actuator configuration. The system under investigation consists of two cone DE membranes rigidly connected along the outer diameter, and pre-compressed out-of-plane against each other via a rigid spacer. The electrodes of both membranes are partitioned in four sections that can be activated separately, thus allowing the desired MDOF actuation feature. Different prototypes are assembled and tested to study the influence of the inner radius as well as the length of the rigid spacer on the achievable motion range. For the first experimental study presented here, we focus our analysis on a single actuation variable, i.e., the rotation of the rigid spacer about a fixed axis. A physics-based model is then developed and validated based on the collected experimental measurements. A model-based investigation is subsequently performed, with the aim of studying the influence of the regarded parameters on the rotation angle. Finally, based on the results of the performed study, a model-based optimization of the prototype geometry is performed

Shape memory polymeric nanocompsites for biological applications

The aim of this work is to develop novel shape memory polymers (SMPs) and nanocomposites for potential biological applications. A kind of commercial SMP, shape memory polyurethane (SMPU), was used to prepare nanocomposites by incorporating nano-clay into the SMPU substrate. The mechanical behaviour, thermal property and shape memory efficiency were studied with various nanofiller loadings. Chemical synthesis methods were also employed to prepare the other designable SMP and its nanocomposites, i.e. the shape memory polystyrene co-polymer (SMPS). Multiple technologies were adopted to enhance the SMPS matrix such as modifying the chemical components, introducing various functional nanoparticles into the polymeric network and improving the dispersion of the nanoparticles. Different methods were used to characterize the overall performance of the obtained materials. Mechanical tests were performed at different dimensional scales with a varied degree of localisation. Nanoindentation was firstly applied to assess the micro-mechanical properties of shape memory polymer nanocomposites at scales down to particle size. The micro-mechanical analysis provided the fundamental information on the SMPs and their nanocomposites for bio-MEMS applications. Potential applications were also explored through manufacturing different type of device models and testing their shape recovery efficiencies. Finally, theoretical contributions were made in two areas. The first one was the theoretical analysis on the nanoparticles enhancement to the soft polymeric matrix. The other was in developing a constitutive model to describe the thermo-viscoelastic property and shape memory behaviour for SMP nanocomposites